KoulesStatePropagator Class Reference
Inheritance diagram for KoulesStatePropagator:

Public Member Functions

 KoulesStatePropagator (const ompl::control::SpaceInformationPtr &si)
 
virtual void propagate (const ompl::base::State *start, const ompl::control::Control *control, const double duration, ompl::base::State *result) const
 Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true) More...
 
- Public Member Functions inherited from ompl::control::StatePropagator
 StatePropagator (SpaceInformation *si)
 Constructor.
 
 StatePropagator (const SpaceInformationPtr &si)
 Constructor.
 
virtual bool canPropagateBackward () const
 Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).
 
virtual bool steer (const base::State *, const base::State *, Control *, double &) const
 Compute the control that can take the system from state from to state to. Store that control in result; the duration for which the control should be applied is stored in duration; return true if the computation was successful; return false otherwise;. More...
 
virtual bool canSteer () const
 Return true if the steer() function has been implemented.
 

Protected Attributes

KoulesSimulatorsimulator_
 
- Protected Attributes inherited from ompl::control::StatePropagator
SpaceInformationsi_
 The instance of space information this state propagator operates on.
 

Detailed Description

Definition at line 44 of file KoulesStatePropagator.h.

Member Function Documentation

◆ propagate()

void KoulesStatePropagator::propagate ( const ompl::base::State state,
const ompl::control::Control control,
const double  duration,
ompl::base::State result 
) const
virtual

Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)

Parameters
statethe state to start propagating from
controlthe control to apply
durationthe duration for which the control is applied
resultthe state the system is brought to
Note
This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.
The pointer to the starting state and the result state may be the same.

Implements ompl::control::StatePropagator.

Definition at line 54 of file KoulesStatePropagator.cpp.


The documentation for this class was generated from the following files: